version: 66.12
glider: 187
mission: 4
dive: 33
start: 6 26 114 22 18 6
data:
$ID,187
$MISSION,4
$DIVE,33
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,180
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,60
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53474
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0016
$HD_B,0.0099999998
$HD_C,1.4e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1593222.4
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,400
$PITCH_MAX,3700
$C_PITCH,3360
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,22
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,440
$ROLL_MAX,4000
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,5
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2892
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-63.106686
$PRESSURE_SLOPE,0.0001138132
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,83
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043206038
$SEABIRD_T_H,0.00062367308
$SEABIRD_T_I,2.3111006e-05
$SEABIRD_T_J,2.4313138e-06
$SEABIRD_C_G,-10.199382
$SEABIRD_C_H,1.1587334
$SEABIRD_C_I,-0.0027609179
$SEABIRD_C_J,0.00029025986
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,1.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,1.0
$PM_MOTORS,1.0
$GPS1,260614,221105,4752.734,-12509.663,26,1.9,26,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-72.2
$GPS2,260614,221731,4752.805,-12509.617,10,1.5,10,18.7
$SPEED_LIMITS,0.173,0.250
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,207.6,170299,-14.3,-10.000,-21.83,2203
$D_GRID,159
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.80,-155.7,401,2387,1381,1145,0.0,0.0,0,101,0.00,0.00,-70.60,0.000,16386,0.000,0.000,402,2387,3148,3170,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.80,-155.7,401,2387,3171,3124,4.0,-6.1,7,137,12.88,2.50,-6.20,0.000,18948,0.430,0.138,3092,987,3530,3525,3536,0,0,0,0,0,0,14.24,14.39,14.62
$GC,216,-0.77,-155.7,3092,987,3526,3538,35.1,-16.6,25,226,0.00,2.50,0.00,0.000,1030,0.000,0.103,3091,2407,3534,3526,3542,0,0,0,0,0,0,28.83,14.42,28.83
$GC,416,-0.75,-155.7,3089,2407,3527,3540,65.2,-14.5,45,427,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2406,3530,3522,3539,0,0,0,0,0,0,28.83,28.83,28.83
$GC,608,-0.73,-155.7,3091,2407,3527,3541,89.8,-12.7,64,617,0.12,2.50,0.00,0.000,2564,0.293,0.111,3126,990,3536,3532,3541,0,0,0,0,0,0,14.44,14.50,28.83
$GC,750,-0.73,-155.7,3126,992,3527,3541,106.4,-11.4,89,762,0.00,2.47,0.00,0.000,1030,0.000,0.106,3126,2404,3531,3524,3539,0,0,0,0,0,0,28.83,14.52,28.83
$GC,942,-0.73,-155.7,3126,2404,3534,3537,125.7,-9.9,108,951,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2404,3534,3528,3540,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1132,-0.73,-155.7,3128,2401,3528,3547,144.6,-9.7,127,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2403,3534,3527,3541,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1293,begin apogee
$GC,1301,-0.32,0.0,3126,2702,3527,3541,159.8,-9.6,143,1434,0.43,0.00,118.18,0.870,10246,0.210,0.000,3252,2702,2888,2952,2825,0,0,0,0,0,0,14.50,28.83,13.78
$STATE,1437,end apogee,CONTROL_FINISHED_OK
$STATE,1437,begin climb
$GC,1441,0.80,155.7,3252,2702,2952,2822,166.0,0.0,157,1577,1.15,2.50,120.32,0.846,10500,0.158,0.122,3612,4007,2252,2406,2098,0,0,0,0,0,0,14.12,13.90,13.61
$GC,1608,0.74,155.7,3612,4007,2404,2098,154.0,16.6,181,1621,0.00,2.38,0.00,0.000,1030,0.000,0.109,3614,2707,2251,2404,2098,0,0,0,0,0,0,28.83,14.01,28.83
$GC,1811,0.70,155.7,3614,2706,2403,2095,125.2,13.9,201,1824,0.00,2.62,0.00,0.000,516,0.000,0.131,3617,1283,2249,2404,2095,0,0,0,0,0,0,28.83,14.24,28.83
$GC,1937,0.66,155.7,3617,1283,2404,2094,107.8,12.2,223,1949,0.17,2.55,0.00,0.000,5126,0.281,0.113,3577,2697,2247,2402,2093,0,0,0,0,0,0,14.28,14.35,28.83
$GC,2140,0.65,185.5,3576,2697,2404,2092,87.7,8.6,243,2173,0.00,2.70,23.10,0.802,8708,0.000,0.144,3585,1293,2131,2290,1973,0,0,0,0,0,0,28.83,14.28,14.04
$GC,2402,0.64,193.3,3585,1293,2290,1973,63.7,9.6,288,2421,0.00,2.53,7.00,0.795,9222,0.000,0.114,3585,2701,2104,2265,1944,0,0,0,0,0,0,28.83,14.42,14.08
$GC,2603,0.65,237.1,3585,2701,2265,1943,47.4,8.0,308,2643,0.00,0.00,33.97,0.761,8454,0.000,0.000,3585,2701,1924,2075,1773,0,0,0,0,0,0,28.83,28.83,14.05
$GC,2824,0.63,237.1,3584,2704,2070,1772,25.0,10.0,331,2834,0.00,2.58,0.00,0.000,516,0.000,0.130,3587,1284,1920,2070,1771,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3073,0.71,327.9,3587,1284,2069,1770,6.6,5.8,377,3122,0.00,2.53,38.95,0.119,9222,0.000,0.110,3588,2704,1555,1719,1391,0,0,0,0,0,0,28.83,14.46,14.45
$STATE,3129,end climb,SURFACE_DEPTH_REACHED
$STATE,3129,begin surface coast
$FINISH,0.3,1.011206
$STATE,3211,end surface coast,CONTROL_FINISHED_OK
$STATE,3211,begin surface
$SM_CCo,3236,31.15,0.105,0,0,1260,400.08
$SM_GC,1.71,9.32,0.57,31.15,0.095,0.119,0.105,395,2394,1260,-9.22,0.51,400.08,0,0,0,0,0,0,14.46,14.50,14.48
$IRIDIUM_FIX,4732.49,-12507.66,230407,101050
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.03
$INTERNAL_PRESSURE,8.9425
$TCM_TEMP,18.70
$XPDR_PINGS,0
$SC_FREEKB,3927456
$PM_FREEKB,61946816
$24V_AH,13.6,5.905
$10V_AH,13.2,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,24.075,31.475,341.525,31.150,0.000,0.000,0.000,197.975,0.000,0.000,11.523,1129.019,936.257,461.782,884.103,255.690,0.000,1072.545,0.000,604.239,0.000,0.535,0.000
$DEVICE_MAMPS,429.930,143.820,869.805,104.805,0.000,0.000,0.000,148.410,420.000,0.000,22.470,10.220,2.190,10.220,28.950,35.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3214.000,1449.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.987,4.167,0.000,0.000
$MEM,290884
$DATA_FILE_SIZE,13431,393
$CAP_FILE_SIZE,67304,0
$CFSIZE,260034560,254812160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3623.75,0x2378ba,7,5
$EKF,3362,2872.620361,-7509.907227,0.331664,0.000000,-0.000000,0.000790,0.000829,0.001843,0.002295,0.117388,0.117388,0.000129
$CURRENT,0.031,253.0,1
$GPS,260614,231405,4752.604,-12509.989,31,1.0,41,18.7